CN103287429B - A kind of Lane Keeping System and track keep control method - Google Patents
A kind of Lane Keeping System and track keep control method Download PDFInfo
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- CN103287429B CN103287429B CN201310242959.1A CN201310242959A CN103287429B CN 103287429 B CN103287429 B CN 103287429B CN 201310242959 A CN201310242959 A CN 201310242959A CN 103287429 B CN103287429 B CN 103287429B
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Abstract
The embodiment of the present invention provides a kind of track to keep control method and Lane Keeping System, after embodiment of the present invention Lane Keeping System receives track maintained switch start signal, Lane recognition device collects traffic information, car body information collection apparatus collects car body information, and track keeps controlling device and according to this traffic information and car body information control active front steering system, the direct of travel of vehicle is adjusted；In the above-mentioned process that the direct of travel of vehicle is adjusted, if track keeps controlling device receives operation switching signal, then close Lane Keeping System, turn and controlled vehicle traveling by driver；If receiving driver steering wheel is applied the dtc signal of torque, then control described active front steering system and this torque is offset.Operation from driver is analyzed processing by embodiment of the present invention Lane Keeping System in the process that the direct of travel of vehicle is adjusted, it is possible to according to driver, the different operating action of vehicle is made respective handling.
Description
Technical field
The present invention relates to a kind of safety driving assist system, particularly relate to a kind of vehicle lane and keep system and track to keep control method.
Background technology
Along with the development of economy and communication, automobile has become as the vehicles that people are indispensable.But along with improving constantly of automobile utilization rate, road accident rate also presents the trend risen year by year.According to statistics, in all motor vehicle accidents, the vehicle accident caused due to deviation accounts for 20 the percent of all vehicle accidents, and more seriously, the traffic mortality caused due to deviation accounts for 37 the percent of all traffic mortality rates.From these data it can be seen that Lane Departure has had a strong impact on the security of the lives and property of people.Therefore, the many research institutions of recent domestic start to be devoted to the research of Lane Keeping System.
Prior art discloses a kind of cooperating type Lane Keeping System.This system passes through camera unit and GPS unit road pavement information, transmit to deviation judge module to judge vehicle whether offset lanes, operator condition judgment module judges the mode of operation of driver by receiving the operational torque of driver simultaneously, judges whether on this basis to start Lane Keeping System.If driver operates vehicle under the automatisms such as fatigue driving or carless driving state, also result in automotive run-off-road, and this cooperating type Lane Keeping System determines driver at operation vehicle, Lane Keeping System would not be started, so it is possible to cause the generation of vehicle accident, there is potential safety hazard.
Summary of the invention
The features and advantages of the present invention are partly stated in the following description, or can from this description it is clear that or can learn by putting into practice the present invention.
In order to overcome the shortcoming of prior art, the present invention provides a kind of Lane Keeping System and track maintenance control method that the different control actions of vehicle can be made respective handling according to driver.
The technical scheme that the above-mentioned technical problem of embodiment of the present invention solution adopts is as follows:
There is provided a kind of track to keep control method, comprise the steps: to receive track maintained switch start signal；Collect traffic information and car body information, and according to this traffic information and car body information control active front steering system, the direct of travel of vehicle is adjusted；In the above-mentioned process that the direct of travel of vehicle is adjusted, if receiving operation switching signal, then closing Lane Keeping System, turning and being controlled vehicle traveling by driver；If receiving driver steering wheel is applied the dtc signal of torque, then control described active front steering system and this torque is offset.
There is provided a kind of as above track to keep control method, described in receive operation switching signal and be: receive track maintained switch shutdown signal；Or receive pole changer start signal；Or receive vehicle brake signal.
A kind of track as above is provided to keep control method, described receive driver to steering wheel apply torque dtc signal, then control this active front steering system this torque to be offset, comprise the steps: that torque sensor receives driver and steering wheel applies the dtc signal of torque；This dtc signal feeds back to this track keep controlling device or this dtc signal feeding back to the electric booster steering system controller of this active front steering system, this electric booster steering system controller this dtc signal is sent to this track and keeps controlling device；This track keeps controlling device and calculates opposing torque size in conjunction with this traffic information, this car body information and this dtc signal and transmit the electric booster steering system controller to this active front steering system, this electric booster steering system controller control steer motor and this torque offset.
A kind of track as above is provided to keep control method, described collection traffic information and car body information, and according to this traffic information and car body information control active front steering system, the direct of travel of vehicle is adjusted, comprising the steps: that track keeps controlling device instruction Lane recognition device and gathers traffic information, instruction car body signal pickup assembly gathers car body information；Receive the traffic information of this Lane recognition device feedback and the car body information of this car body signal pickup assembly feedback；Control described active front steering system according to this traffic information and car body information the direct of travel of vehicle is adjusted.
There is provided a kind of as above track to keep control method, described control described active front steering system according to this traffic information and car body information and be adjusted the direct of travel of vehicle comprising the steps: that track keeps controlling device and calculates the skew corner that should adjust in conjunction with this traffic information and this car body information and regulate the speed；By this skew corner that should adjust and the transmission electric booster steering system controller to this active front steering system of regulating the speed, this electric booster steering system controller control steer motor and realize turning to adjustment.
A kind of track as above is provided to keep control method, described traffic information includes the distance between vehicle traveling direction and skew corner and vehicle and the both sides lane line of lane line, also comprises the steps: that Lane recognition device gathers road conditions image information before the traffic information of this Lane recognition device of described reception feedback；To this road conditions Image Information Processing, calculate the distance between vehicle traveling direction and skew corner and vehicle and the both sides lane line of lane line；Above-mentioned skew corner and distance feed back to track keep controlling device.
A kind of track as above is provided to keep control method, described car body information includes the GES of vehicle, tach signal and yaw rate signal, also comprises the steps: that car body signal pickup assembly collects the GES of vehicle, tach signal and yaw rate signal before the car body information of this car body signal pickup assembly of described reception feedback；This GES, tach signal and yaw rate signal feed back to this track keep controlling device.
For solving above-mentioned technical problem, the embodiment of the present invention also provides for a kind of Lane Keeping System, including: track maintained switch, for opening vehicle lane keeping system；Lane recognition device, for collecting traffic information after Lane Keeping System is opened；Car body information collection apparatus, for collecting car body information after Lane Keeping System is opened；Track keeps controlling device, the direct of travel of vehicle is adjusted by the active front steering system for controlling vehicle according to this traffic information and this car body information, and for receiving operation signal and the operation signal received being processed, if this operation signal is operation switching signal, then close Lane Keeping System, turn and controlled vehicle traveling by driver；If this operation signal is driver, and steering wheel is applied the dtc signal of torque, controls described active front steering system and this torque is offset.
A kind of Lane Keeping System as above is provided, this track keeps controlling device and includes controlling module, operation switching signal detection module, dtc signal detection module and operation signal processing module, this control module, for calculating, in conjunction with described traffic information and car body information, the skew corner that should adjust and regulating the speed and this skew corner that should adjust and transmission to described active front steering system of regulating the speed the direct of travel of vehicle be adjusted；This operation switching signal detection module, is used for detecting track maintained switch shutdown signal, pole changer start signal or vehicle brake signal, and the signal detected is sent to this operation signal processing module；This dtc signal detection module, applies the dtc signal of torque, and the dtc signal detected is sent to this operation signal processing module for detecting driver to steering wheel；This operation signal processing module, for closing Lane Keeping System when receiving the signal of this operation switching signal detection module；Or control described active front steering system when receiving this dtc signal this torque is offset.
Thering is provided a kind of Lane Keeping System as above, the vehicle brake signal that this operation switching signal detection module detects is to be sent by the braking sensor being arranged on vehicle.
Thering is provided a kind of Lane Keeping System as above, this dtc signal detection module is torque sensor；This dtc signal detection module for being sent to this operation signal processing module by the dtc signal detected, particularly as follows: this dtc signal is fed directly to this operation signal processing module or this dtc signal feeds back to the electric booster steering system controller of this active front steering system by this dtc signal detection module, this electric booster steering system controller this dtc signal is sent to this and operates signal processing module.
Compared with prior art, embodiment of the present invention Lane Keeping System and track keep control method, in the process that the direct of travel of vehicle is adjusted, the operation from driver is made a distinction process, if what receive is operation switching signal, illustrating that driver is undesirably from the effect of Lane Keeping System, now Lane Keeping System is directly closed；If only receiving driver steering wheel is applied the dtc signal of torque, illustrate that this operation is unconscious by driver, or maloperation, then need the active front steering system controlling vehicle this torque to be offset, to ensure that vehicle is according to track safety traffic.Therefore adopting the embodiment of the present invention, when Lane Keeping System is opened, not only because missing steering wheel rotation, driver causes that vehicle shift track can be avoided by, and it also avoid Lane Keeping System and produces to conflict according to the operation that vehicle is carried out by the consciousness of oneself with driver.
By reading description, those of ordinary skill in the art will be best understood feature and the content of these technical schemes.
Accompanying drawing explanation
It is specifically described the present invention below with reference to accompanying drawing and in conjunction with example, advantages of the present invention and implementation will become apparent from, wherein content shown in accompanying drawing is only for explanation of the present invention, and does not constitute the restriction gone up in all senses to the present invention, in the accompanying drawings:
Fig. 1 to Fig. 5 is the schematic flow sheet that embodiment of the present invention track keeps control method.
Fig. 6 is the structural representation of embodiment of the present invention Lane Keeping System.
Fig. 7 is that embodiment of the present invention Lane Keeping System carries out active steering adjustment schematic diagram after running out the way.
Fig. 8 is that embodiment of the present invention Lane Keeping System carries out active steering adjustment schematic diagram at vehicle on detour.
Detailed description of the invention
Refer to Fig. 1, be an embodiment of track of the present invention maintenance control method.
The present embodiment track keeps control method to comprise the steps:
Step S11: receive track maintained switch start signal；
Step S12: collect traffic information and car body information, and according to this traffic information and car body information control active front steering system, the direct of travel of vehicle is adjusted；
Step S13: in the above-mentioned process that the direct of travel of vehicle is adjusted, if receiving operation switching signal, then close Lane Keeping System, turns and is controlled vehicle traveling by driver；If receiving driver steering wheel is applied the dtc signal of torque, then control described active front steering system and this torque is offset.
In the present embodiment, track keeps control method in the process that the direct of travel of vehicle is adjusted, operation from driver is analyzed, if what receive is operation switching signal, illustrating that driver is undesirably from the effect of Lane Keeping System, now Lane Keeping System is directly closed；If only receiving driver steering wheel is applied the dtc signal of torque, illustrate that this operation is unconscious by driver, or maloperation, then need the active front steering system controlling vehicle this torque to be offset, to ensure that vehicle is according to track safety traffic.Therefore adopting the present embodiment after Lane Keeping System is opened, not only because missing steering wheel rotation, driver causes that vehicle shift track can be avoided by, and it also avoid Lane Keeping System and produces to conflict according to the operation that vehicle is carried out by the consciousness of oneself with driver.
Refer to Fig. 2, keep another embodiment of control method for track.
The present embodiment track keeps control method to comprise the steps:
Step S21: receive track maintained switch start signal.
Step S22: track keeps controlling device instruction Lane recognition device and gathers traffic information, and instruction car body signal pickup assembly gathers car body information.
Step S23: Lane recognition device feedback traffic information, specifically includes following steps (as shown in Figure 3):
S2301: Lane recognition device keeps the instruction controlling device to gather road conditions image information according to track.
S2302: to this road conditions Image Information Processing, calculate the distance between vehicle traveling direction and skew corner and vehicle and the both sides lane line of lane line.
S2303: above-mentioned skew corner and distance are fed back to track and keeps controlling device.
Step S24: car body signal pickup assembly feedback car body information, specifically includes following steps.
The GES of vehicle, tach signal and yaw rate signal are collected in the instruction that car body signal pickup assembly controls device according to track maintenance, and this GES, tach signal and yaw rate signal feed back to this track maintenance control device.
Step 25: track keeps controlling device and receives the traffic information of this Lane recognition device feedback and the car body information of this car body signal pickup assembly feedback.
Step 26: track keeps controlling device and according to this traffic information and car body information control active front steering system, the direct of travel of vehicle is adjusted, and specifically includes following steps (as shown in Figure 4):
S2601: track keeps controlling device and calculates whether vehicle offsets in conjunction with this traffic information and this car body information, if there is skew, calculating the skew corner that should adjust and regulating the speed.
S2602: by this skew corner that should adjust and transmission electric boosting steering system (ElectricPowerSteering, the EPS) controller to this active front steering system of regulating the speed.
S2603: this EPS controller controls steer motor and realizes turning to adjustment.
Step S27: in the above-mentioned process that the direct of travel of vehicle is adjusted, if receiving driver steering wheel applies the dtc signal of torque, then controls described active front steering system and this torque is offset, comprise the steps (as shown in Figure 5):
S2701: torque sensor receives driver and steering wheel applies the dtc signal of torque.
S2702: this dtc signal is fed back to the EPS controller of this active front steering system, and by this EPS controller, this dtc signal is sent to this track and keeps controlling device.
In practical application, it is also possible to torque sensor is configured so that it is after receiving dtc signal, directly this dtc signal is sent to track and keeps controlling device.
S2703: this track keeps controlling device and calculates opposing torque size in conjunction with this traffic information, this car body information and this dtc signal and transmit to this EPS controller, this EPS controller control steer motor and this torque offset.
Step S28: in the above-mentioned process that the direct of travel of vehicle is adjusted, if receiving operation switching signal, such as track maintained switch shutdown signal, pole changer start signal or vehicle brake signal, then close Lane Keeping System, turn and controlled vehicle by driver and travel.
In Fig. 2, dotted line represents: if receiving driver steering wheel applies the dtc signal of torque, then perform step S27, and step S28 will not be performed；If receiving operation switching signal, then perform step S28.
In the present embodiment, operation switching signal is arranged to track maintained switch shutdown signal, pole changer start signal and vehicle brake signal, has following by advantage:
1, when driver thinks that lane-change is overtaken other vehicles, the driving habits according to people, first open pole changer before lane-change, light steering indicating light to point out other vehicle.If being now still to be controlled the closedown of Lane Keeping System by track maintained switch, then operation shows slightly loaded down with trivial details unnecessary.Therefore in the present embodiment, when Lane Keeping System receives pole changer start signal, close Lane Keeping System, vehicle drive power is returned in driver's hands, optimizes operating process.
2, when driver finds that front, track is in an emergency, the driving habits according to people, the first reaction is to control car braking then lane-change to evade, if now cannot close Lane Keeping System in time, then can cause serious consequence.And when Lane Keeping System receives vehicle brake signal in the present embodiment, closing Lane Keeping System, driver can handle vehicle and carry out lane-change and evade, and improves the safety coefficient of car steering.
Refer to Fig. 6, for an embodiment of Lane Keeping System of the present invention.
The present embodiment Lane Keeping System includes track maintained switch 42, Lane recognition device 10, car body information collection apparatus 20 and track and keeps controlling device 30.
This track maintained switch 42, is used for being turned on and off this Lane Keeping System.
This Lane recognition device 10 includes photographic head 11 and image processor 12, for the traffic information of collection vehicle traveling and by CAN(ControllerAreaNetwork, controller local area network) it is sent to track maintenance control device 30.In the process, photographic head 11 absorbs road conditions information conveyance to image processor 12, image processor 12 identifies the lane line of vehicle both sides and calculates the distance (d1 and d2 in Fig. 7 and Fig. 8) between vehicle traveling direction and skew corner a and vehicle and the both sides lane line of lane line, and is sent to track maintenance control device 30 by CAN communication.
This car body information collection apparatus 20 includes vehicle speed sensor 21, speed probe 22 and yaw-rate sensor 23, it is sent to track maintenance control device 30 for gathering car body information, kept controlling device 30 by this track and calculate the steering angle of optimum and the speed of angle adjustment in conjunction with the distance between skew corner and vehicle and the both sides lane line of vehicle, with anti-vehicle oversteering or understeer.The car body information wherein gathered includes the speed of operation of automobile；Engine speed；The yaw velocity of automobile.
This track keeps controlling device 30, the car body information sended over for the traffic information that Lane recognition device 10 is sended over and this car body information collection apparatus 20 processes, calculating the skew corner that should adjust and regulate the speed, the direct of travel of vehicle is adjusted and for receiving operation signal and the operation signal received being processed by the active front steering system 50 controlling vehicle.This track keeps controlling device 30 and includes controlling module 34, operation switching signal detection module 31, dtc signal detection module 32 and operation signal processing module 33.
This control module 34, for calculating, according to described traffic information and car body information, the skew corner that should adjust and regulating the speed and this skew corner that should adjust and transmission to active front steering system 50 of regulating the speed the direct of travel of vehicle be adjusted.
This operation switching signal detection module 31, for detecting the track maintained switch shutdown signal from track maintained switch 42 or the pole changer start signal from pole changer 41 or vehicle brake signal (in the present embodiment, the detection to brake signal is realized by arranging braking sensor 43), and the signal detected is sent to this operation signal processing module 33；This dtc signal detection module 32, steering wheel is applied the dtc signal of torque (in the present embodiment for detecting driver, the detection to dtc signal is realized by arranging torque sensor), and the dtc signal detected is sent to this operation signal processing module 33.In practical application, the dtc signal detected directly can be sent to operation signal processing module 33 by dtc signal detection module 32, the dtc signal detected can also be sent to EPS controller, EPS controller this dtc signal is sent to operation signal processing module 33.
This operation signal processing module 33, for closing Lane Keeping System when receiving the operation switching signal of this operation switching signal detection module 31；Or control described active front steering system 50 when receiving the dtc signal that this dtc signal detection module 32 sends this torque is offset.
Further illustrating when the active front steering system that active front steering system is in conjunction with electric boosting steering system below in conjunction with Fig. 7 and Fig. 8, the present embodiment Lane Keeping System controls the operation principle of active front steering system.
Active front steering system in conjunction with electric boosting steering system includes EPS controller, steer motor, mechanical steering system and torque sensor.EPS controller carries out CAN communication with track maintenance control device 30, receives track and keeps controlling the diversion order control steer motor rotation that device 30 is sent, and fed back by result of implementation, in order to track keeps controlling device 30 monitoring and turns to result.Steer motor receives the steering angle order of EPS controller, realizes turning to of vehicle by mechanical steering system.
When driver thinks that road conditions are good, carry out opening vehicle lane keeping system by opening track maintained switch.Track keeps controlling device 30 and receives Lane Keeping System start signal, controls Lane recognition device 10 by CAN order and is operated, and gets involved EPS control.The photographic head 11 of Lane recognition device 10 transmits after gathering road conditions information to image processor 12, image processor 22 therefrom identifies the direct of travel of vehicle 60, lane line 61 and its virtual prolongation obtains when lane line 61 is for curve (as shown in Figure 8) skew corner, identify the distance (d1, d2) between vehicle 60 and both sides lane line 61 simultaneously, keep controlling device 30 by data Real-time Feedback to track together with skew corner a.Car body signal pickup assembly 20 is by GES, tach signal, the car body signals such as yaw rate signal provide to track and keep controlling device 30, track keeps controlling device 30 and calculates vehicle 60 whether offset lanes in conjunction with the data of car body signal pickup assembly 20, if finding the sign offset, then calculating the skew corner that should adjust and regulate the speed, the direct of travel of vehicle 60 is adjusted maintaining vehicle 60 and drives safely along track by order EPS controller.EPS controller controls steer motor and realizes turning to adjustment.Track keeps controlling device 30 skew corner a is controlled servo-actuated adjustment in the scope of-2 °≤a≤2 ° always, reaches, with this, the purpose that track keeps, makes vehicle attitude in motion more stable, improve the riding comfort of vehicle.
In the present embodiment, when because of lane-change, overtake other vehicles etc. operation and when front, track be in an emergency need driver's urgent lane change time or when operator reversing switch prepares lane-change or brake pedal promptly evades, track keeps controlling device and receives the signal of reversing switch and braking sensor, close Lane Keeping System, so that driver can be smoothed out subsequent operation, not only conform with the driving habits of people, also optimize operating process.When driver unconscious manipulation steering mechanism, torque sensor keeps controlling device 30 or dtc signal directly feeds back to track to keep controlling device 30 to track by CAN transmission after dtc signal is fed back to EPS controller, track keeps controlling device 30 and calculates opposing torque size in conjunction with car body signal and skew corner and transmit to the execution of EPS controller, reaches to eliminate the unconscious purpose handling the dangerous hidden danger that steering mechanism causes of driver with this.
The Lane Keeping System of the embodiment of the present invention and track keep control method after Lane Keeping System is opened, the operation signal received is made a distinction process by the driving habits according to people, if what receive is operation switching signal, i.e. track maintained switch shutdown signal, pole changer start signal or vehicle brake signal, illustrate that driver is undesirably from the effect of Lane Keeping System, now Lane Keeping System is directly closed, vehicle drive power is returned in driver's hands, optimizes operating process；If only receiving driver steering wheel is applied the dtc signal of torque, illustrate that this operation is unconscious by driver, or maloperation, the active front steering system controlling vehicle is then needed this torque to be offset, because missing steering wheel rotation, driver causes that vehicle shift track can be avoided by, it is ensured that vehicle is according to track safety traffic.
These are only the preferred embodiments of the present invention, those skilled in the art are without departing from the scope of the present invention and essence, it is possible to have multiple flexible program to realize the present invention.For example, the feature as the shown partially of an embodiment or description can be used for another embodiment to obtain another embodiment.These are only the embodiment that the present invention is preferably feasible, not thereby limit to the interest field of the present invention that the equivalence change that all utilizations description of the present invention and accompanying drawing content are made is both contained within the interest field of the present invention.
Claims (8)
1. a track keeps control method, it is characterised in that comprise the steps:
Receive track maintained switch start signal；
Collect traffic information and car body information, and according to this traffic information and car body information control active front steering system, the direct of travel of vehicle is adjusted；
In the above-mentioned process that the direct of travel of vehicle is adjusted, if receiving operation switching signal, then closing Lane Keeping System, turning and being controlled vehicle traveling by driver；If receiving driver steering wheel is applied the dtc signal of torque, then control described active front steering system and this torque is offset；
Described receive driver to steering wheel apply torque dtc signal, then control this active front steering system and this torque offset, comprise the steps:
Torque sensor receives driver and steering wheel applies the dtc signal of torque；
This dtc signal feeds back to this track keep controlling device or this dtc signal feeding back to the electric booster steering system controller of this active front steering system, then by this electric booster steering system controller, this dtc signal is sent to this track and keeps controlling device；
This track keeps controlling device and calculates opposing torque size in conjunction with this traffic information, this car body information and this dtc signal and transmit the electric booster steering system controller to this active front steering system, this electric booster steering system controller control steer motor and this torque offset.
2. track as claimed in claim 1 keeps control method, it is characterised in that described in receive operation switching signal and be:
Receive track maintained switch shutdown signal；Or
Receive pole changer start signal；Or
Receive vehicle brake signal.
3. the track as described in any one of claim 1 to 2 keeps control method, it is characterized in that, described collection traffic information and car body information, and according to this traffic information and car body information control active front steering system, the direct of travel of vehicle is adjusted, comprise the steps:
Track keeps controlling device instruction Lane recognition device and gathers traffic information, and instruction car body signal pickup assembly gathers car body information；
Receive the traffic information of this Lane recognition device feedback and the car body information of this car body signal pickup assembly feedback；
Control described active front steering system according to this traffic information and car body information the direct of travel of vehicle is adjusted.
4. track as claimed in claim 3 keeps control method, it is characterised in that described control described active front steering system according to this traffic information and car body information and is adjusted comprising the steps: to the direct of travel of vehicle
Track keeps controlling device and calculates the skew corner that should adjust in conjunction with this traffic information and this car body information and regulate the speed；
By this skew corner that should adjust and the transmission electric booster steering system controller to this active front steering system of regulating the speed, this electric booster steering system controller control steer motor and realize turning to adjustment.
5. track as claimed in claim 4 keeps control method, it is characterized in that, described traffic information includes the distance between vehicle traveling direction and skew corner and vehicle and the both sides lane line of lane line, also comprises the steps: before the traffic information of this Lane recognition device of described reception feedback
Lane recognition device gathers road conditions image information；
To this road conditions Image Information Processing, calculate the distance between vehicle traveling direction and skew corner and vehicle and the both sides lane line of lane line；
Above-mentioned skew corner and distance feed back to track keep controlling device.
6. track as claimed in claim 5 keeps control method, it is characterized in that, described car body information includes the GES of vehicle, tach signal and yaw rate signal, also comprises the steps: before the car body information of this car body signal pickup assembly of described reception feedback
Car body signal pickup assembly collects the GES of vehicle, tach signal and yaw rate signal；
This GES, tach signal and yaw rate signal feed back to this track keep controlling device.
7. a Lane Keeping System, it is characterised in that including:
Track maintained switch, for opening vehicle lane keeping system；
Lane recognition device, for collecting traffic information after Lane Keeping System is opened；
Car body information collection apparatus, for collecting car body information after Lane Keeping System is opened；
Track keeps controlling device, the direct of travel of vehicle is adjusted by the active front steering system for controlling vehicle according to this traffic information and this car body information, and for receiving operation signal and the operation signal received being processed, if this operation signal is operation switching signal, then close Lane Keeping System, turn and controlled vehicle traveling by driver；If this operation signal is driver, and steering wheel is applied the dtc signal of torque, controls described active front steering system and this torque is offset；
This track keeps controlling device and includes dtc signal detection module and operation signal processing module,
This dtc signal detection module is torque sensor, for detecting driver, steering wheel is applied the dtc signal of torque, and this dtc signal is fed directly to this operation signal processing module or this dtc signal is fed back to the electric booster steering system controller of this active front steering system, this electric booster steering system controller this dtc signal is sent to this and operates signal processing module；
This operation signal processing module, for closing Lane Keeping System when receiving the signal of this operation switching signal detection module；Or control described active front steering system when receiving this dtc signal this torque is offset.
8. Lane Keeping System as claimed in claim 7, it is characterised in that this track keeps controlling device and also includes controlling module and operation switching signal detection module,
This control module, for calculating, in conjunction with described traffic information and car body information, the skew corner that should adjust and regulating the speed and this skew corner that should adjust and transmission to described active front steering system of regulating the speed the direct of travel of vehicle be adjusted；
This operation switching signal detection module, is used for detecting track maintained switch shutdown signal, pole changer start signal or vehicle brake signal, and the signal detected is sent to this operation signal processing module.
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| CN201310242959.1A CN103287429B (en) | 2013-06-18 | 2013-06-18 | A kind of Lane Keeping System and track keep control method |
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| CN201310242959.1A CN103287429B (en) | 2013-06-18 | 2013-06-18 | A kind of Lane Keeping System and track keep control method |
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